diff --git a/src_main/thread/pithread.cpp b/src_main/thread/pithread.cpp
index 6ce4e20a..a93f6065 100755
--- a/src_main/thread/pithread.cpp
+++ b/src_main/thread/pithread.cpp
@@ -190,8 +190,10 @@ PIThread::~PIThread() {
 #ifdef FREERTOS
 	//void * ret(0);
 	piCout << "~PIThread" << PRIVATE->thread;
-	piCout << pthread_join(PRIVATE->thread, 0);
-	piCout << "FREERTOS can't join pthreads!";
+	//piCout << pthread_join(PRIVATE->thread, 0);
+	piCout << "FreeRTOS can't join pthreads! waiting for stop";
+	stop(true);
+	piCout << "stopped!"
 #else
 #ifndef WINDOWS
 #    ifdef ANDROID
@@ -292,14 +294,16 @@ bool PIThread::startOnce() {
 
 
 void PIThread::terminate() {
+#ifdef FREERTOS
+	piCout << "FreeRTOS can't terminate pthreads! waiting for stop";
+	stop(true);
+	piCout << "stopped!"
+#else
 	if (PRIVATE->thread == 0) return;
 	UNREGISTER_THREAD(this);
 	PIINTROSPECTION_UNREGISTER_THREAD(tid());
 	terminating = running_ = false;
 	tid_ = -1;
-#ifdef FREERTOS
-	piCout << "FREERTOS can't terminate pthreads!";
-#endif
 	//piCout << "terminate" << PRIVATE->thread;
 #ifndef WINDOWS
 #  ifdef ANDROID
@@ -316,6 +320,7 @@ void PIThread::terminate() {
 #endif
 	PRIVATE->thread = 0;
 	end();
+#endif
 }